As I also recall, holding them complicated my taxes that year and put me into AMT threshold. This may have been from option exercise though, I can’t remember.
If you were allowed to sell on the vesting day (open trading window etc) there is generally no way to reduce any tax burden, you are taxed as regular income on the vesting day based on the vesting price, no amount of waiting will reduce your tax liability.
Generally I sell as soon as they vest and invest the proceeds into a diversified portfolio.
A way to think about it is if you had the equivalent in cash, would you spend that money to purchase that stock? If yes, then keep the RSU otherwise sell enough for your risk tolerance.
I've also had ESPP shares that appreciated significantly and therefore held onto them to get long term capital gains, then sold them into a donor advised fund (DAF) to give to charities in a doubly tax advantaged way.
